2-wheel or all-wheel alignment?

To the collective:

I have a totally OEM 2011 Pre-runner, 2WD, V-6, auto, access cab, 40,000 miles. Tires rotated front-to-back every 5000 miles. All tires, L & R, wearing faster outside edge. Dealer says they can only do 4-wheel alignment.

Can rear alignment, in addition to front, be done on this vehicle, that is, can the rear alignment be adjusted, if necessary, as easily as front alignment? I was under impression (mistaken?) that, on a 2-wheel drive p/u, a rear re-alignment could only be adjusted with some "major" work. NOTE: Truck rides straight & true, no pulling/drifting left or right, no vibration at any speed.

All responses greatly appreciated by this cynical "swamp yankee."

paul